An Accurate Indoor User Position Estimator For Multiple Anchor UWB Localization

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dc.contributor.authorPoulose, Alwin
dc.contributor.authorEmeršic, Žiga
dc.contributor.authorEyobu, Odongo Steven
dc.contributor.authorSeog Han, Dong
dc.date.accessioned2023-02-03T15:48:52Z
dc.date.available2023-02-03T15:48:52Z
dc.date.issued2020
dc.description.abstractUWB-based positioning systems have been proven to provide a significant high level of accuracy hence offering a huge potential for a variety of indoor applications. However, the major challenges related to UWB localization are multipath effects, excess delay, clock drift, signal interferences and system computational time to estimate the user position. To compensate for these challenges, the UWB system uses multiple anchors in the experiment area and this gives accurate position results with minimum localization errors. However, the use of multiple anchors in the UWB system means processing large amounts of data in the system controller for localization, which leads to high computational time to estimate the current user position. To reduce the complexity of the UWB systems, we propose a position estimator for multiple anchor indoor localization, which uses the extended Kalman filter (EKF). The proposed UWB-EKF estimator was mathematically analysed and the simulation results were compared with classical localization algorithms considering the mean localization errors. In the simulation, three classical localization algorithms: linearized least square estimation (LLSE), weighted centroid estimation (WCE) and maximum likelihood estimation (MLE) were used for performance comparison. Thorough extensive simulation done in this study achieves results which demonstrate the effectiveness of the proposed UWB-EKF estimator for multiple anchor UWB indoor localization.en_US
dc.identifier.citationPoulose, A., Emeršič, Ž., Eyobu, O. S., & Han, D. S. (2020, October). An accurate indoor user position estimator for multiple anchor uwb localization. In 2020 international conference on information and communication technology convergence (ICTC) (pp. 478-482). IEEE.en_US
dc.identifier.isbn978-1-7281-6758-9
dc.identifier.urihttps://nru.uncst.go.ug/handle/123456789/7512
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.subjectIndoor localizationen_US
dc.subjectUltra-wide band (UWB)en_US
dc.subjectTime of arrival (TOA)en_US
dc.subjectExtended Kalman filter (EKF)en_US
dc.subjectLeast square estimationen_US
dc.subjectWeighted centroid estimationen_US
dc.subjectMaximum likelihood estimationen_US
dc.titleAn Accurate Indoor User Position Estimator For Multiple Anchor UWB Localizationen_US
dc.typeOtheren_US
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